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Update due to changes in GNSSSignals #40

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merged 9 commits into from
Nov 23, 2022
Merged

Update due to changes in GNSSSignals #40

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3c0458e
Use get_codes from GNSSSignals
zsoerenm Jul 26, 2022
a22586f
Update minimum version of GNSSSignals to v0.16.0 and remove BOC speci…
zsoerenm Aug 10, 2022
e8fe99d
Performance improvement
zsoerenm Aug 15, 2022
fec9ca9
Merge branch 'master' into ss/use-get_codes
zsoerenm Aug 15, 2022
a6c33ab
Add filtered prompt to TrackingResults
zsoerenm Aug 17, 2022
6504e26
Merge branch 'ss/use-get_codes' of github.com:JuliaGNSS/Tracking.jl i…
zsoerenm Aug 17, 2022
1753f62
Put post correlation filter into TrackingState
zsoerenm Aug 18, 2022
fe68069
Add possibility to change beamformer in state
zsoerenm Sep 6, 2022
274d85f
Change order of tracking state
zsoerenm Nov 22, 2022
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8 changes: 4 additions & 4 deletions Project.toml
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Expand Up @@ -17,13 +17,13 @@ TrackingLoopFilters = "0814aff9-93cb-554c-9fff-9bf1cfdb5efa"
Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"

[compat]
Acquisition = "0.0.2"
Acquisition = "0.0.2, 0.0.4"
CUDA = "3.5"
DocStringExtensions = "0.6, 0.7, 0.8"
GNSSSignals = "0.15.5"
DocStringExtensions = "0.6, 0.7, 0.8, 0.9"
GNSSSignals = "0.16"
LoopVectorization = "0.8, 0.9, 0.10, 0.11, 0.12"
StaticArrays = "0.9, 0.10, 0.11, 0.12, 1.0"
StructArrays = "0.4"
StructArrays = "0.4, 0.6.5"
TrackingLoopFilters = "0.1"
Unitful = "0.12, 0.13, 0.14, 0.15, 0.16, 0.17, 0.18, 1.0"
julia = "1.6"
Expand Down
5 changes: 4 additions & 1 deletion src/Tracking.jl
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Expand Up @@ -30,6 +30,8 @@ module Tracking
export track
export get_bits
export get_num_bits
export get_filtered_prompt
export get_post_corr_filter

export TrackingState
export NumAnts
Expand All @@ -40,6 +42,7 @@ module Tracking
#export VeryEarlyPromptLateCorrelator
export SecondaryCodeOrBitDetector
export GainControlledSignal
export AbstractPostCorrFilter

struct NumAnts{x}
end
Expand All @@ -51,6 +54,7 @@ module Tracking

NumAccumulators(x) = NumAccumulators{x}()

include("post_corr_filter.jl")
include("code_replica.jl")
include("carrier_replica.jl")
include("downconvert.jl")
Expand All @@ -65,6 +69,5 @@ module Tracking
include("gpsl1.jl")
include("gpsl5.jl")
include("galileo_e1b.jl")
include("boc.jl")
include("downconvert_and_correlate.jl")
end
19 changes: 0 additions & 19 deletions src/boc.jl
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6 changes: 3 additions & 3 deletions src/correlator.jl
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Expand Up @@ -154,8 +154,8 @@ $(SIGNATURES)

Filter the Correlator by the function `post_corr_filter`
"""
function filter(post_corr_filter, correlator::T) where T <: AbstractCorrelator
(T.name.wrapper)(map(x -> post_corr_filter(x), get_accumulators(correlator)))
function apply(post_corr_filter, correlator::T) where T <: AbstractCorrelator
(T.name.wrapper)(map(post_corr_filter, get_accumulators(correlator)))
end

"""
Expand Down Expand Up @@ -246,7 +246,7 @@ $(SIGNATURES)
Normalize the correlator
"""
function normalize(correlator::AbstractCorrelator, integrated_samples)
filter(x -> x / integrated_samples, correlator)
apply(x -> x / integrated_samples, correlator)
end
"""
$(SIGNATURES)
Expand Down
2 changes: 1 addition & 1 deletion src/downconvert.jl
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Expand Up @@ -111,7 +111,7 @@ end
signal_real = reinterpret(reshape, ST, signal)
ds_re = downconverted_signal.re; ds_im = downconverted_signal.im
c_re = carrier_replica.re; c_im = carrier_replica.im
@avx for i = start_sample:num_samples + start_sample - 1, j = 1:size(signal_real, 3)
@avx for i = start_sample:num_samples + start_sample - 1, j = 1:size(ds_re, 2)
ds_re[i, j] = signal_real[1, i, j] * c_re[i] + signal_real[2, i, j] * c_im[i]
ds_im[i, j] = signal_real[2, i, j] * c_re[i] - signal_real[1, i, j] * c_im[i]
end
Expand Down
8 changes: 8 additions & 0 deletions src/post_corr_filter.jl
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@@ -0,0 +1,8 @@
abstract type AbstractPostCorrFilter end

struct DefaultPostCorrFilter <: AbstractPostCorrFilter end

update(filter::DefaultPostCorrFilter, prompt) = filter

(filter::DefaultPostCorrFilter)(x) = x
(filter::DefaultPostCorrFilter)(x::AbstractVector) = last(x)
16 changes: 11 additions & 5 deletions src/tracking_loop.jl
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Expand Up @@ -19,9 +19,8 @@ Track the signal `signal` based on the current tracking `state`, the sampling fr
"""
function track(
signal,
state::TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR},
state::TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR, PCF},
sampling_frequency;
post_corr_filter = get_default_post_corr_filter(get_correlator(state)),
intermediate_frequency = 0.0Hz,
max_integration_time::typeof(1ms) = 1ms,
min_integration_time::typeof(1.0ms) = 0.75ms,
Expand All @@ -40,7 +39,8 @@ function track(
CN <: AbstractCN0Estimator,
DS,
CAR,
COR
COR,
PCF <: AbstractPostCorrFilter,
}
prn = get_prn(state)
system = get_system(state)
Expand Down Expand Up @@ -72,8 +72,10 @@ function track(
prompt_accumulator = get_prompt_accumulator(state)
integrated_samples = get_integrated_samples(state)
cn0_estimator = get_cn0_estimator(state)
post_corr_filter = get_post_corr_filter(state)
signal_start_sample = 1
bit_buffer = BitBuffer()
filtered_prompt = zero(ComplexF64)
valid_correlator = zero(correlator)
valid_correlator_carrier_phase = 0.0
valid_correlator_carrier_frequency = 0.0Hz
Expand Down Expand Up @@ -135,7 +137,9 @@ function track(
valid_correlator = correlator
valid_correlator_carrier_phase = carrier_phase
valid_correlator_carrier_frequency = carrier_frequency
filtered_correlator = filter(post_corr_filter, correlator)
post_corr_filter = update(post_corr_filter, get_prompt(correlator, correlator_sample_shifts))
filtered_correlator = apply(post_corr_filter, correlator)
filtered_prompt = get_prompt(filtered_correlator, correlator_sample_shifts)
pll_discriminator = pll_disc(
system,
filtered_correlator,
Expand Down Expand Up @@ -194,9 +198,10 @@ function track(
num_samples_left == signal_samples_left && break
signal_start_sample += num_samples_left
end
next_state = TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR}(
next_state = TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR, PCF}(
prn,
system,
post_corr_filter,
init_carrier_doppler,
init_code_doppler,
carrier_doppler,
Expand All @@ -218,6 +223,7 @@ function track(
TrackingResults(
next_state,
valid_correlator,
filtered_prompt,
correlator_sample_shifts,
early_late_index_shift,
valid_correlator_carrier_frequency,
Expand Down
19 changes: 17 additions & 2 deletions src/tracking_results.jl
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Expand Up @@ -11,6 +11,7 @@ struct TrackingResults{
}
state::TS
correlator::C
filtered_prompt::ComplexF64
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Is there a special reason for putting the filtered prompt signal in the tracking results? In my opinion, this is quite unsafe to evaluate, as the tracking loop might generate more than one prompt (or even no).

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Yes, it's like correlator, but filtered. correlator holds the last valid correlation results (after a complete code length has been integrated). The same applies to filtered prompt. filtered_prompt is needed because in some circumstances the filter can not be reconstructed outside of track. The implementation here allows to update the states of the post correlation filter every time there are new correlation results. Therefore, the state of the post correlation filter might be different at the time that track returns.

correlator_sample_shifts::CS
early_late_index_shift::ELI
correlator_carrier_frequency::typeof(1.0Hz)
Expand Down Expand Up @@ -157,6 +158,20 @@ Check if the secondary code or bit has been found.
"""
$(SIGNATURES)

Check if the secondary code or bit has been found.
Get used system.
"""
@inline get_system(results::TrackingResults) = get_system(get_state(results))

"""
$(SIGNATURES)

Get filtered prompt.
"""
@inline get_filtered_prompt(results::TrackingResults) = results.filtered_prompt

"""
$(SIGNATURES)

Get Post correlation filter.
"""
@inline get_system(results::TrackingResults) = get_system(get_state(results))
@inline get_post_corr_filter(results::TrackingResults) = get_post_corr_filter(get_state(results))
48 changes: 42 additions & 6 deletions src/tracking_state.jl
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Expand Up @@ -63,10 +63,12 @@ struct TrackingState{
CN <: AbstractCN0Estimator,
DS <: Union{DownconvertedSignalCPU, Nothing},
CAR <: Union{CarrierReplicaCPU, Nothing},
COR <: Union{Vector{Int8}, Nothing}
COR <: Union{Vector{<:Real}, Nothing},
PCF <: AbstractPostCorrFilter,
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}
prn::Int
system::S
post_corr_filter::PCF
init_carrier_doppler::typeof(1.0Hz)
init_code_doppler::typeof(1.0Hz)
carrier_doppler::typeof(1.0Hz)
Expand All @@ -85,6 +87,33 @@ struct TrackingState{
code::COR
end

function TrackingState(
track_state::TrackingState;
post_corr_filter,
)
TrackingState(
track_state.prn,
track_state.system,
post_corr_filter,
track_state.init_carrier_doppler,
track_state.init_code_doppler,
track_state.carrier_doppler,
track_state.code_doppler,
track_state.carrier_phase,
track_state.code_phase,
track_state.correlator,
track_state.carrier_loop_filter,
track_state.code_loop_filter,
track_state.sc_bit_detector,
track_state.integrated_samples,
track_state.prompt_accumulator,
track_state.cn0_estimator,
track_state.downconverted_signal,
track_state.carrier,
track_state.code
)
end

"""
$(SIGNATURES)

Expand All @@ -106,6 +135,7 @@ function TrackingState(
system::S,
carrier_doppler,
code_phase;
post_corr_filter::PCF = DefaultPostCorrFilter(),
code_doppler = carrier_doppler * get_code_center_frequency_ratio(system),
carrier_phase = 0.0,
carrier_loop_filter::CALF = ThirdOrderBilinearLF(),
Expand All @@ -123,7 +153,8 @@ function TrackingState(
C <: AbstractCorrelator,
CALF <: AbstractLoopFilter,
COLF <: AbstractLoopFilter,
CN <: AbstractCN0Estimator
CN <: AbstractCN0Estimator,
PCF <: AbstractPostCorrFilter
}
if found(sc_bit_detector)
code_phase = mod(code_phase, get_code_length(system) *
Expand All @@ -133,11 +164,12 @@ function TrackingState(
end
downconverted_signal = DownconvertedSignalCPU(num_ants)
carrier = CarrierReplicaCPU()
code = Vector{Int8}(undef, 0)
code = Vector{get_code_type(system)}(undef, 0)

TrackingState{S, C, CALF, COLF, CN, typeof(downconverted_signal), typeof(carrier), typeof(code)}(
TrackingState{S, C, CALF, COLF, CN, typeof(downconverted_signal), typeof(carrier), typeof(code), PCF}(
prn,
system,
post_corr_filter,
carrier_doppler,
code_doppler,
carrier_doppler,
Expand All @@ -164,6 +196,7 @@ function TrackingState(
carrier_doppler,
code_phase;
num_samples,
post_corr_filter::PCF = DefaultPostCorrFilter(),
code_doppler = carrier_doppler * get_code_center_frequency_ratio(system),
carrier_phase = 0.0,
carrier_loop_filter::CALF = ThirdOrderBilinearLF(),
Expand All @@ -180,7 +213,8 @@ function TrackingState(
C <: AbstractCorrelator,
CALF <: AbstractLoopFilter,
COLF <: AbstractLoopFilter,
CN <: AbstractCN0Estimator
CN <: AbstractCN0Estimator,
PCF <: AbstractPostCorrFilter
}
if found(sc_bit_detector)
code_phase = mod(code_phase, get_code_length(system) *
Expand All @@ -192,9 +226,10 @@ function TrackingState(
carrier = nothing
code = nothing

TrackingState{S, C, CALF, COLF, CN, Nothing, Nothing, Nothing}(
TrackingState{S, C, CALF, COLF, CN, Nothing, Nothing, Nothing, PCF}(
prn,
system,
post_corr_filter,
carrier_doppler,
code_doppler,
carrier_doppler,
Expand Down Expand Up @@ -242,3 +277,4 @@ end
@inline get_carrier(state::TrackingState) = state.carrier
@inline get_code(state::TrackingState) = state.code
@inline get_prn(state::TrackingState) = state.prn
@inline get_post_corr_filter(state::TrackingState) = state.post_corr_filter
18 changes: 0 additions & 18 deletions test/boc.jl
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17 changes: 9 additions & 8 deletions test/correlator.jl
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Expand Up @@ -73,17 +73,18 @@
@testset "Filter correlator" begin
correlator = @inferred EarlyPromptLateCorrelator(
SVector(
SVector(1.0 + 0.0im, 1.0 + 0.0im),
SVector(1.0 + 0.0im, 1.0 + 0.0im),
SVector(1.0 + 0.0im, 1.0 + 0.0im)
SVector(1.0 + 0.0im, 1.0 + 1.0im),
SVector(1.0 + 0.0im, 2.0 + 0.0im),
SVector(1.0 + 1.0im, 1.0 + 3.0im)
)
)
filtered_correlator = @inferred Tracking.filter(x -> x[1], correlator)
default_post_corr_filter = Tracking.DefaultPostCorrFilter()
filtered_correlator = @inferred Tracking.apply(default_post_corr_filter, correlator)
@test filtered_correlator == EarlyPromptLateCorrelator(
SVector(
1.0 + 0.0im,
1.0 + 0.0im,
1.0 + 0.0im
1.0 + 1.0im,
2.0 + 0.0im,
1.0 + 3.0im
)
)

Expand All @@ -94,7 +95,7 @@
1.0 + 0.0im
)
)
filtered_correlator = @inferred Tracking.filter(x -> 2 * x, correlator)
filtered_correlator = @inferred Tracking.apply(x -> 2 * x, correlator)
@test filtered_correlator == EarlyPromptLateCorrelator(
SVector(
2.0 + 0.0im,
Expand Down
18 changes: 0 additions & 18 deletions test/cuda/boc.jl
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